Combined inverse-dynamics/passivity-based control for robots with elastic joints

Giusti, Andrea; Malzahn, Jörn; Tsagarakis, Nikos G.; Althoff, Matthias

doi:10.1109/icra.2017.7989620

Cited by 7 publications

(10 citation statements)

References 26 publications

(47 reference statements)

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“…Our proposed framework has also been successfully applied to a different reconfigurable robot test bed with elastic joint modules in [31]. Additionally, this framework can easily incorporate robust control approaches [32], [33], when model uncertainties, unknown loads and disturbances have a significant impact.…”

Section: Discussionmentioning

confidence: 99%

On-the-Fly Control Design of Modular Robot Manipulators

Giusti

Althoff

2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based control laws. Contrary to most other work that approached this challenge by designing decentralized controllers, we generate on-the-fly model-based centralized controllers after a new robot has been assembled. In this brief we extend the applicability of our previous work on this subject by considering both link and joint modules, assemblydependent friction effects and we finally present experiments that validate the overall approach.

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Section: Discussionmentioning

confidence: 99%

On-the-Fly Control Design of Modular Robot Manipulators

Giusti

Althoff

2018

IEEE Trans. Contr. Syst. Technol.

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“…Feedback linearization relies on exact cancellation of system coupling and may be sensitive to model mismatches. 18 Other flexible-joint robot motion control methods are based on backstepping control, known as two-stage state feedback (SFB) control. The SFB control is based on the idea of considering joint elastic torque or motor position as an intermediate virtual input to be used to control the link dynamics.…”

Section: Review On Control Approaches For Flexible-joint Robotsmentioning

confidence: 99%

“…It is seen that increasing closed-loop stiffness through λ R in (16)- (18) leads to a faster response and higher disturbance rejection. However, too much stiffness may cause an excessive oscillation in the transient response if flexible mode frequencies in (8) and (9) are unintentionally excited.…”

Section: Bandwidth Limitationmentioning

confidence: 99%

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A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

et al. 2019

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SUMMARYJoint flexibility introduces additional degrees of freedom and vibration modes, thus limiting the performance of the manipulator. To improve control bandwidth, this paper proposes an enhanced two-stage state feedback (SFB) controller, which combines two parts. The first is a SFB loop, which considers the motor position as a virtual control input for the link side dynamics. The second is a disturbance-state observer, which compensates disturbances and reconstructs indirect measurements. Experimental results show the effectiveness of the proposed controller in terms of position tracking, link vibration, and rejection of the kinematic error from the joint’s harmonic drive reducer.

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“…Brogliato compared three kinds of global tracking schemes: the decoupling-based scheme, the backstepping-based scheme and the passivity-based scheme [10]. Passivity-based schemes which avoid complete feedback linearization have a more robust performance, such as the control scheme proposed by Giusti which is a combined inverse-dynamics/passivity-based (ID/PB) controller [11,12]. However, all of the above-mentioned schemes are concerned with the control of a single robot manipulator with elastic joints.…”

Section: Introductionmentioning

confidence: 99%

Cooperative compliance control of the dual-arm manipulators with elastic joints

et al. 2021

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Cooperative compliance control of dual-arm manipulators with elastic joints carrying a constrained object is addressed in this paper. The well-known inner/outer loop hybrid control strategy was used as the overall control scheme. The inner loop control method of each manipulator with elastic joints is a global tracking control approach, which is based on highorder inverse dynamics and the passivity theory; high-order inverse dynamics can be efficiently computed with modern high-order Newton-Euler algorithms, and the passivity-based theory can be robust against model uncertainties and input disturbances. The outer loop control approach enforces a desired impedance between the two end-effectors with the object, aimed at avoiding large internal forces to damage the robot or the object. The proposed control scheme is simulated on a dual-arm cooperative system which contains two 7-DOF elastic-joint manipulators and a manipulated object, and simulation results illustrate the high-precision tracking capabilities of the proposed control scheme, and robustness to bounded dynamic parameters uncertainties can be achieved. Meanwhile, the internal forces converge to the desired values.

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Combined inverse-dynamics/passivity-based control for robots with elastic joints

Cited by 7 publications

References 26 publications

On-the-Fly Control Design of Modular Robot Manipulators

On-the-Fly Control Design of Modular Robot Manipulators

A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

Cooperative compliance control of the dual-arm manipulators with elastic joints

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